artisynth.core.mechmodels

Interface FrameAttachable

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PointAttachable, PostScannable, Scannable

All Known Subinterfaces:

ConnectableBody

All Known Implementing Classes:

BeamBody, BSpline3dElement, DeformableBody, DicomPlaneViewer, DicomViewer, EBBeamBody, FemCutPlane, FemElement3d, FemElement3dBase, FemModel3d, FemModelDeformer, FemModelFrame, FemMuscleModel, Frame, HexElement, HydrostatModel, ImageViewer, MFreeElement3d, MFreeModel3d, MFreeMuscleModel, NiftiViewer, PointToPointMuscle, PyramidElement, QuadhexElement, QuadpyramidElement, QuadtetElement, QuadwedgeElement, RigidBody, RigidBodyOsim, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, ShellElement3d, ShellQuadElement, ShellTriElement, SpongeModel, TargetFrame, TetElement, TexturePlaneBase, WedgeElement

public interface FrameAttachable
extends PointAttachable

Defines a component to which a frame can be attached.

Author:

lloyd

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Method Summary

Modifier and Type	Method and Description
FrameAttachment	createFrameAttachment(Frame frame, RigidTransform3d TFW) Returns a FrameAttachment that attaches a frame to this component.

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

createPointAttachment

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Method Detail

createFrameAttachment

FrameAttachment createFrameAttachment(Frame frame,
                                      RigidTransform3d TFW)

Returns a FrameAttachment that attaches a frame to this component. Once attached the frame will follow the body around. The initial pose of the frame is specified by TFW, which gives its position and orientation in world coordinates. If TFW is null, then the current pose of the frame is used. If frame is null, then a virtual attachment is created at the initial pose specified by TFW. frame and TFW cannot both be null.

In some cases, it may not be possible to attach the frame at the requested location. In that case, the method will relocate the frame to the nearest feasible attachment location.

Parameters:

frame - frame to be attached

TFW - transform from (initial) frame coordinates to world coordinates

Returns:

attachment connecting frame to this component